Amit Shekhar

Publication Date

1991

Document Type

Dissertation/Thesis

First Advisor

Wang, Ching-Cheng (Professor of industrial engineering)

Degree Name

M.S. (Master of Science)

Legacy Department

Department of Industrial Engineering

LCSH

Robots--Programming; Robots--Error detection and recovery

Abstract

Repeatability and accuracy of the robot operation are two distinct specifications of the robot capacity. Repeatability measures the precision with which the manipulator revisits a taught point, while the accuracy discloses how closely the manipulator visits a computed point. The accuracy of a taught point is limited by the resolution of the operator’s eyes. On the other hand, the accuracy of the computed point is limited by nothing other than the computer rounding errors. The computed point defines the desired position via forward and backward kinematics of the rigid manipulator. Unfortunately, no manipulator is rigid. Static deformation exists. As a result, the computed point deviates from the position where the manipulator actually visits. To remedy this problem, compensation methods have been explored. They require the link deformation to be identified on-line. No such method exists to date. This thesis explores a novel method which acquires link deflection and angular bending on-line. To facilitate the acquisition method, laser light source, partial-pass reflectors and sensor arrays are aligned on the link. Positions where the laser beams project on the sensor arrays are measured to calculate the link deformations. The sensitivity analysis is also performed. In addition, computation examples illustrate the on-line acquisition method. The feasibility of its adoption using today’s equipment is addressed.

Comments

Includes bibliographical references (pages [62]-63)

Extent

vi, 80 pages

Language

eng

Publisher

Northern Illinois University

Rights Statement

In Copyright

Rights Statement 2

NIU theses are protected by copyright. They may be viewed from Huskie Commons for any purpose, but reproduction or distribution in any format is prohibited without the written permission of the authors.

Media Type

Text

Download

Share

COinS